WO2012137409A1 - Dispositif de serrage - Google Patents

Dispositif de serrage Download PDF

Info

Publication number
WO2012137409A1
WO2012137409A1 PCT/JP2012/001574 JP2012001574W WO2012137409A1 WO 2012137409 A1 WO2012137409 A1 WO 2012137409A1 JP 2012001574 W JP2012001574 W JP 2012001574W WO 2012137409 A1 WO2012137409 A1 WO 2012137409A1
Authority
WO
WIPO (PCT)
Prior art keywords
grippers
pair
pulse
electric motor
encoder
Prior art date
Application number
PCT/JP2012/001574
Other languages
English (en)
Other versions
WO2012137409A4 (fr
Inventor
Masahisa Fujino
Original Assignee
Canon Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Canon Kabushiki Kaisha filed Critical Canon Kabushiki Kaisha
Publication of WO2012137409A1 publication Critical patent/WO2012137409A1/fr
Publication of WO2012137409A4 publication Critical patent/WO2012137409A4/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator

Definitions

  • the present invention relates to a gripping device that rotationally drives an electric motor in response to a command (a control signal) from a controller so as to grip and release a gripping subject (hereinafter, referred to as a "work").
  • a pair of grippers of a hand that grips a work are operated by an electric motor.
  • the drive shaft of the electric motor is equipped with an encoder which generates a rotation pulse every predetermined rotation angle of the electric motor. Then, the number of rotation pulses is set from an origin corresponding to the desired opening and closing position, the rotation pulses from the encoder are counted from the origin, and then the electric motor is stopped at a position where the number of counted pulses is equal to the predetermined target number of pulses.
  • the position since it is possible to make the resolution of the encoder high, the position may be controlled with high precision.
  • the positional control precision depends on the origin detecting precision.
  • Origin detecting types may be largely classified into a sensor type and a mechanical contact type, and the mechanical contact type without a sensor is advantageous from the viewpoint of cost and space efficiency.
  • the pair of grippers needs to be reliably brought into contact with each other so that the pair of grippers do not stop before the contact therebetween.
  • the speed of the pair of grippers needs to be maintained to a certain extent at the contact position, and the driving force remains in the pair of grippers even after the contact therebetween.
  • the contact between the grippers becomes unstable when vibration or impact is applied thereto.
  • a method may be considered in which the contact position of the front end of the gripper and the balance position between the driving force and the force caused by the elastic deformation are measured in advance and the deviation data is sampled for correction.
  • various methods may be considered, such as using an optical microscope.
  • it is not easy to accurately determine the contact position of the front end of the gripper the precision of the correction data is reduced, and then the highly-precise correction cannot be performed.
  • the mechanical components of the gripper or the rotor body need to be processed with high precision, which causes an increase in cost.
  • a gripping device of the invention includes: an electric motor that includes a rotating drive shaft; a rotary-linear motion converting mechanism that converts a rotary motion of the drive shaft into a linear motion; a pair of grippers that is opened and closed by the rotary-linear motion converting mechanism; an encoder that generates a pulse with a rotation position of the drive shaft; closing operation command means for commanding the pair of grippers to be closed; current supply stopping means for stopping a supply of a current to the electric motor when the closing operation of the pair of grippers using the closing operation command means stops; and origin pulse detecting means for detecting an origin pulse which corresponds to a pulse generated in the encoder at a time point at which the time necessary for stopping the operation of the pair of grippers after stopping the supply of the current to the electric motor using the current supply stopping means elapses.
  • the origin pulse since the supply of the current to the electric motor is stopped when the pair of grippers come into contact with each other, the driving force which is generated by the electric motor and applied to the pair of grippers is removed, and the elastic deformation of the pair of grippers is solved. Accordingly, since the origin pulse may be detected in a state where the elastic deformation of the pair of grippers is solved, the origin pulse detecting precision is improved.
  • Fig. 1 is a perspective view illustrating a schematic configuration of a gripping device according to a first embodiment of the invention.
  • Fig. 2A and 2B are diagrams illustrating an encoder, where Fig. 2A is a schematic diagram illustrating the structure of the encoder.
  • Figs. 2A and 2B are diagrams illustrating an encoder, where Fig. 2B is a diagram illustrating an output signal of the encoder.
  • Figs. 3A and 3B are diagrams illustrating a driving control circuit, where Fig. 3A is a configuration diagram illustrating the driving control circuit.
  • Figs. 3A and 3B are diagrams illustrating a driving control circuit, where Fig. 3B is a functional block diagram illustrating the driving control circuit.
  • Fig. 1 is a perspective view illustrating a schematic configuration of a gripping device according to a first embodiment of the invention.
  • Fig. 2A and 2B are diagrams illustrating an encoder, where Fig. 2A is a schematic diagram
  • FIG. 4 is a flowchart illustrating a control operation of a controller when an origin pulse is detected.
  • Fig. 5A is schematic diagram illustrating a gripper state of each step of Fig. 4.
  • Fig. 5B is schematic diagram illustrating a gripper state of each step of Fig. 4.
  • Fig. 5C is schematic diagram illustrating a gripper state of each step of Fig. 4.
  • Fig. 6A is schematic diagram illustrating a gripper state of each step of Fig. 4.
  • Fig. 6B is schematic diagram illustrating a gripper state of each step of Fig. 4.
  • Fig. 6C is schematic diagram illustrating a gripper state of each step of Fig. 4.
  • Fig. 7 is a functional block diagram illustrating a controller of a gripping device according to a second embodiment of the invention.
  • Fig. 8 is a flowchart illustrating a control operation of the controller when an origin pulse is detected.
  • FIG. 1 is a perspective view illustrating a schematic configuration of a gripping device according to a first embodiment of the invention.
  • a gripping device 100 shown in Fig. 1 includes a hand 101 and a driving control circuit 102.
  • the hand 101 includes a planar base 1, a stator (not shown), and a rotor (not shown), and further includes an electric motor 2 which is fixed to one surface of the base 1 and an encoder 3 which is connected to the electric motor 2. Further, the hand 101 includes a rotary-linear motion converting mechanism 4 which is disposed on the other surface of the base 1 and converts a rotary motion of a drive shaft 2a of the electric motor 2 into a linear motion and a pair of grippers 5 and 5 which are opened and closed by the rotary-linear motion converting mechanism 4 so as to grip a work W corresponding to a gripping subject.
  • the electric motor 2 is, for example, an AC servo motor.
  • the drive shaft 2a which is a part of the rotor of the electric motor 2 protrudes toward the other surface side of the base 1 through the base 1.
  • the rotor (the drive shaft 2a) may be rotated.
  • the rotor of the electric motor 2 is configured to be rotatable in the forward rotation direction and the reverse rotation direction, and the rotation direction of the rotor may be changed by changing a current supply pattern in which a current is supplied to the coil of the electric motor 2.
  • the encoder 3 is a rotary encoder which generates and outputs a pulse synchronized with the rotation direction and the rotation angle of the rotor (the drive shaft 2a) of the electric motor 2.
  • the rotary-linear motion converting mechanism 4 is configured as a rack-and-pinion mechanism, and includes a pinion 6 which is provided in the drive shaft 2a of the electric motor 2 and a pair of racks 7 and 7 which meshes with the pinion 6 with the pinion 6 interposed therebetween and converts the rotary motion of the pinion 6 into the linear motion.
  • the hand 101 includes a pair of rear guide rails 8 and 8 which are fixed to the other surface of the base 1 so as to be parallel to each other. Further, the hand 101 includes a pair of linear guides 9 and 9 each of which includes a guide groove 9a fitted to the rear guide rail 8 and is fixed to each rack 7 so as to be movably supported by the rear guide rail 8.
  • Each gripper 5 includes base end portions 5a which are fixed to the rack 7, linear portions 5b which extend from the base end portion 5a so as to be parallel to each other and are elastically deformable (in a bending manner), and gripping portions 5c which protrude from the front ends of the linear portions 5b so as to face each other and come into contact with the work W.
  • Fig. 2A illustrates the structure of the encoder 3, and the encoder 3 includes a disk 13 which is fixed to the rotary shaft 2a of the electric motor 2 and an LED 14 and two photo diodes (PDs) 15 and 16 which are disposed so as to face each other with the disk 13 interposed therebetween.
  • PDs photo diodes
  • the disk 13 is provided with plural slits 13a and 13b which are formed so as to be concentric with the rotary shaft 2a of the electric motor 2.
  • the slits 13a and 13b are formed so as to be deviated from each other by the slit width of 1/2.
  • the LED 14 illuminates both the slits 13a and 13b, and the PDs 15 and 16 are arranged so as to respectively face the slits 13a and 13b. Accordingly, the light flux which passes through the slits 13a is received by the PD 15 and the light flux which passes through the slits 13b is received by the PD 16.
  • Fig. 2B illustrates the pulse output which is obtained by binarizing the signals from PDs 15 and 16. Since the pulse output corresponds to the rotation angle of the rotor of the electric motor 2, the rotation position of the rotor of the electric motor 2 may be detected. Further, since the slits 13a and 13b are formed so as to be offset from each other by the slit width of 1/2, the respective pulse outputs are deviated from each other by a phase of 1/4. Accordingly, the forward rotation and the reverse rotation of the rotor of the electric motor 2 may be detected from the rising and falling timings of the pulse.
  • Fig. 3A illustrates the driving control circuit 102 of the electric motor 2 which includes a controller 11 and a driving circuit 12 serving as a driving section.
  • the controller 11 includes a microcomputer with a CPU 11a, a ROM 11b, a RAM 11c, an input section 11d, and an output section 11e and a peripheral device (not shown), and outputs a control signal representing a current command to the driving circuit 12.
  • the driving circuit 12 supplies a current according to the control signal to the electric motor 2.
  • the controller 11 performs the position control (the forward rotation and the reverse driving) of the electric motor 2 and the torque control thereof.
  • the operation of the electric motor 2 is detected as the pulse output of the encoder 3, and is fed-back to the controller 11.
  • the ROM11b of the controller 11 stores a control program in advance, and the control program is operated in the CPU 11a.
  • the CPU 11a reads the control program from the ROM 11b and performs the control program, the CPU serves as the respective sections to be described later.
  • the ROM 11b is a rewritable non-volatile memory, and various setting values may be changed therefrom.
  • the first counting section 21 counts the number of pulses generated in the encoder 3 up or down. When the drive shaft 2a rotates forward, the number of pulses is counted up. Then, when the drive shaft 2a rotates reversely, the number of pulses is counted down. The first counting section 21 counts the number of pulses based on the origin pulse which is generated in the encoder 3 when the pair of grippers 5 and 5 are closed (the gripping portions 5c of the pair of grippers 5 and 5 come into contact with each other).
  • the forward rotation is set to a case where the rotary shaft 2a rotates in a direction in which the pair of grippers 5 and 5 are closed
  • the reverse rotation is set to a case where the rotary shaft 2a rotates in a direction in which the pair of grippers 5 and 5 are opened. That is, when the rotary shaft 2a rotates so that the pair of grippers 5 and 5 are closed, the number of pulses is counted up. Then, when the rotary shaft 2a rotates so that the pair of grippers 5 and 5 are opened, the number of pulses is counted down.
  • the target pulse number setting section 22 sets the target number of pulses so that the pair of grippers 5 and 5 move to the target opening and closing position.
  • the meaning of setting the target number of pulses indicates that the data signal representing the target number of pulses is input from the input section 11d and is stored in a storage section such as a ROM 11b (or a RAM 11c) so as to be read out as the target number of pulses by the CPU 11a.
  • the first command section 23 outputs a control signal that commands the supply of the current with respect to the electric motor 2 to the driving circuit 12 so that the number of pulses counted by the first counting section 21 becomes the predetermined target number of pulses.
  • the control signal is output from the output section 11e of the controller 11.
  • Fig. 4 is a flowchart illustrating the control operation of the controller 11 when the origin pulse is detected
  • Figs. 5A to 5C and Figs. 6A to 6C are schematic diagrams illustrating the state of the grippers 5 and 5 of each step in Fig. 4.
  • the control operation of the respective sections 24 to 28 will be described in detail by referring to Figs. 3A to 6C.
  • the controller 11 starts the origin detecting routine (S1). At this time, the pair of grippers 5 and 5 are present at an opening and closing position where the grippers are distant from each other by a predetermined distance as shown in Fig. 5A.
  • the second command section 25 outputs a control signal of commanding the supply of the current with respect to the electric motor 2 to the driving circuit 12 so that the pair of opened grippers 5 and 5 are closed at a constant speed (S2: closing operation command means).
  • the pair of grippers 5 and 5 are closed as shown in Fig. 5B, and the gripping portions 5c of the front ends of the grippers 5 and 5 come into contact with each other as shown in Fig. 5C.
  • the pair of grippers 5 and 5 are elastically deformed (in a bending manner).
  • the linear portion 5b of the gripper 5 is mainly elastically deformed.
  • the closing operation of the pair of grippers 5 and 5 stop at a point where the elastic deforming force of the pair of grippers 5 and 5 and the driving force of the electric motor 2 are balanced.
  • the second counting section 24 counts the number of pulses generated in the encoder 3, and the second command section 25 monitors the count of the second counting section 24 by checking the output of the encoder shown in Fig. 4 (S3). Then, when the closing operation of the pair of grippers 5 and 5 stop so that the output of the encoder 3 stops and the counting operation using the second counting section 24 stops, the second command section 25 stops the supply of the current with respect to the electric motor 2 (S4: current supply stopping means). That is, the second command section 25 outputs a control signal which represents the stop of the supply of the current with respect to the electric motor 2 to the driving circuit 12.
  • the second command section 25 stops the supply of the current with respect to the electric motor 2 and starts the timekeeping in the timer section 27. Accordingly, the timer section 27 starts the timekeeping from a time point at which the supply of the current to the electric motor 2 is stopped by the second command section 25 (S5: timer means).
  • the time setting section 26 sets a setting time T at which the timekeeping is performed in the timer section 27 in advance.
  • the meaning of setting the setting time T indicates that the data signal representing the setting time T is input from an external device (not shown) through the input section 11d and is stored in a memory section such as a ROM 11b (or a RAM 11c) so as to be read out as the information of the setting time T when the CPU 11a performs the timekeeping. That is, the timer section 27 performs the timekeeping as much as the setting time T which is set from the time point at which the electric motor 2 is stopped.
  • the setting time T is a time which is necessary for removing the elastic deformation of the pair of grippers 5 and 5, and is a time which is obtained in advance by an experiment.
  • the timer section 27 resumes the timekeeping when the setting time T does not elapses (S6: No), and stops the timekeeping (S7) when the setting time T elapses (S6: Yes).
  • the grippers 5 and 5 stop in a state where the front ends thereof come into contact with each other as shown in Fig. 6C.
  • the origin pulse detecting section 28 detects the origin pulse which corresponds to the pulse generated in the encoder 3 at a time point at which the timekeeping using the timer section 27 ends (S8: origin pulse detecting means).
  • the origin pulse position is stored in, for example, the RAM 11c of the controller 11. With the above-described operation, the origin detecting routine is terminated (S9).
  • the supply of the current to the electric motor 2 is stopped after the electric motor stops, the releasing time data until the bending generated in the grippers 5 and 5 is solved is obtained, and the releasing time obtained from the data is set as the setting time T. Then, the pulse output which is output from the encoder 3 after the setting time T elapses is detected as the origin pulse. Accordingly, it is possible to prevent the origin pulse from being erroneously detected before the bending generated in the grippers 5 and 5 is solved and detect the origin with high reliability.
  • FIG. 7 is a functional block diagram illustrating a controller 11A according to the second embodiment of the invention. Furthermore, in the second embodiment, the same reference numerals will be given to the same configurations as those of the first embodiment, and the description thereof will not be repeated.
  • the origin pulse detecting operation in the controller 11A is different from the origin pulse detecting operation in the controller 11 of the first embodiment.
  • the hardware configuration of the controller 11A is the same as that of the controller 11 of the first embodiment, and the control program stored in the ROM 11b is different from that of the first embodiment.
  • the controller 11A of the second embodiment in the same manner as the first embodiment, includes the first counting section 21 which serves as the counting means, the target pulse number setting section 22 which serves as the target number pulse setting means, and the first command section 23 which serves as the command means. Further, the controller 11A includes the second counting section 24, a second command section 25A which serves as the closing operation command means and the current supply stopping means, the time setting section 26 which serves as the time setting means, and the timer section 27 which serves as the timer means.
  • the controller 11A starts the origin detecting routine (S11). At this time, the pair of grippers 5 and 5 are present at a position where the grippers are opened by a predetermined distance.
  • the second command section 25A outputs a control signal of commanding the supply of the current with respect to the electric motor 2 to the driving circuit 12 so that the pair of opened grippers 5 and 5 are closed at a constant speed (S12: closing operation command means).
  • the second counting section 24 counts the number of pulses generated in the encoder 3, and the second command section 25A monitors the count of the second counting section 24 by checking the encoder output (S13). Then, when the closing operation of the pair of grippers 5 and 5 is stopped so that the output of the encoder 3 stops and the count using the second counting section 24 stops, the second command section 25A stops the supply of the current with respect to the electric motor 2 (S14: current supply stopping means). That is, the second command section 25A outputs a control signal representing a command of stopping the supply of the current with respect to the electric motor 2 to the driving circuit 12.
  • the second command section 25A stops the supply of the current with respect to the electric motor 2 and starts the timekeeping in the timer section 27. Accordingly, the timer section 27 starts the timekeeping from a time point at which the supply of the current to the electric motor 2 is stopped by the second command section 25A (S15: timer means).
  • the second command section 25A outputs a trigger which starts the counting of the number of pulses generated in the encoder 3 in the third counting section 29 to the third counting section 29.
  • the third counting section 29 counts the number of pulses generated in the encoder 3 from a time point at which the timekeeping using the timer section 27 starts (S16).
  • the timer section 27 resumes the timekeeping when the setting time T does not elapses (S17: No), and stops the timekeeping when the setting time T elapses (S17: Yes) (S18). Further, the timer section 27 stops the timekeeping and outputs a trigger which stops the counting of the number of pulses in the third counting section 29 to the third counting section 29. Accordingly, the third counting section 29 ends the counting of the number of pulses generated in the encoder 3 (S19). That is, the third counting section 29 counts the number of pulses generated in the encoder 3 from a time point at which the timekeeping starts by the timer section 27 to a time point at which the timekeeping ends.
  • the pulse number upper and lower limit value setting section 30 sets the upper limit value A and the lower limit value B of the number of pulses which will be compared with the counted number of pulses in the comparison section 31.
  • the number of pulses is counted up in the case of the forward rotation in which the rotary shaft 2a rotates so as to close the pair of grippers 5 and 5. Further, the number of pulses is counted down in the case of the reverse rotation in which the rotary shaft 2a rotates so as to open the pair of grippers 5 and 5. Accordingly, since the pair of grippers 5 and 5 moves in the opening direction while the timekeeping is performed in the timer section 27, the rotary shaft 2a rotates reversely and the third counting section 29 counts the number of pulses which increases in the negative direction. Accordingly, the upper limit value A and the lower limit value B which are set have negative values.
  • the lower limit value B is larger than the upper limit value A.
  • the meaning of setting the upper limit value A and the lower limit value B indicates that the data signal representing the upper limit value A and the lower limit value B is input from the external device through the input section 11d and is stored in a storage section such as a ROM 11b (or a RAM 11c) so as to be read out as the upper limit value A and the lower limit value B by the CPU 11a.
  • the comparison section 31 compares the number of pulses counted by the third counting section 29 with the upper limit value A and the lower limit value B (S20). Specifically, the comparison section 31 determines whether the number of pulses counted by the third counting section 29 is within the numerical value range between the lower limit value B and the upper limit value A.
  • the upper limit value A and the lower limit value B are the upper limit value and the lower limit value of a value which is supposed that the number of pulses counted by the third counting section 29 is counted when the elastic deformation of the pair of grippers 5 and 5 is solved.
  • the comparison section 31 allows the origin pulse detecting section 28A to detect the origin pulse. That is, the origin pulse detecting section 28A detects the origin pulse which corresponds to the pulse generated in the encoder 3 at a time point at which the timekeeping using the timer section 27 ends (S21).
  • the origin pulse position is stored in, for example, the RAM 11c of the controller 11. With the above-described operation, the origin detecting routine ends (S22).
  • the comparison section 31 commands the second command section 25A to perform the origin detecting routine again.
  • the second command section 25A which receives the command outputs a control signal which represents a command of opening the pair of grippers 5 and 5 at a constant speed with a predetermined width to the driving circuit 12 (S23). Then, returning to the process of starting the origin detecting routine (S11), the origin detecting routine is started again.
  • an excessive load acts on the pair of grippers 5 and 5 when the number of pulses counted by the third counting section 29 is larger than the upper limit value A. Further, it is considered that vibration or impact acts on the pair of grippers 5 and 5 when the number of pulses counted by the third counting section 29 is smaller than the lower limit value B. In such a case, when the pulse at that time is not detected as the origin pulse and the origin detecting routine is performed again, the origin may be detected with higher reliability.
  • the origin pulse may be detected. Accordingly, the positional deviation caused by the bending of the pair of grippers 5 and 5 may be solved, and the origin pulse may be detected with high precision.
  • the supply of the current to the electric motor 2 is stopped by detecting whether the rotational driving of the electric motor 2 stops due to the contact between the pair of grippers 5 and 5 based on the pulse of the encoder 3, the current does not need to be continuously supplied to the electric motor 2 in order to maintain the state where the grippers 5 and 5 come into contact with each other. Accordingly, the heating of the electric motor 2 due to the contact may be prevented, the durability and the reliability may be improved, and the electric power may be saved.
  • the invention has been described based on the above-described embodiments, but the invention is not limited thereto.
  • the origin detecting routine is performed again, but the invention is not limited thereto.
  • the error information may be notified to the operator without performing the origin detecting routine again.
  • the number of pulses is counted up in the forward rotation in which the rotary shaft 2a rotates so as to close the pair of grippers 5 and 5. Further, a case has been described in which the number of pulses is counted down in the reverse rotation in which the rotary shaft 2a rotates so as to open the pair of grippers 5 and 5.
  • the invention is not limited thereto, and the number of pulses may be counted in the forward rotation in which the rotary shaft 2a rotates so as to open the pair of grippers 5 and 5. Then, the number of pulses may be counted down in the reverse rotation in which the rotary shaft 2a rotates so as to close the pair of grippers 5 and 5.
  • a configuration may be adopted in which the number of pulses is counted in the forward rotation in which the rotary shaft 2a rotates so as to open the pair of grippers 5 and 5. Then, the number of pulses may be counted down in the reverse rotation in which the rotary shaft 2a rotates so as to close the pair of grippers 5 and 5.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Control Of Stepping Motors (AREA)

Abstract

L'invention porte sur un dispositif de serrage apte à détecter une origine de manière hautement précise indépendamment de la déformation élastique d'une pince qui est due au choc de fermeture. Lorsqu'un pignon 6 qui est fixé à un arbre d'entraînement 2a d'un moteur électrique 2 est entraîné en rotation, deux crémaillères 7 et 7 qui engrènent avec le pignon 8 se déplacent linéairement et les deux pinces 5 et 5 sont entraînées de façon à s'ouvrir et se fermer. Un encodeur 3 est connecté au moteur électrique 2 et une impulsion correspondant à la rotation de l'arbre d'entraînement 2a est émise par l'encodeur 3. Un circuit de commande d'entraînement 102 entraîne en rotation le moteur électrique 2, de sorte que les deux pinces 5 et 5 se ferment, et que l'application d'un courant au moteur électrique 2 est arrêtée par détection du fait que les deux pinces 5 et 5 entrent en contact entre elles, de telle sorte que la rotation du moteur électrique 2 s'arrête sur la base de l'impulsion de sortie de l'encodeur 3. Ensuite, le circuit de commande d'entraînement 102 prend l'impulsion qui est émise par l'encodeur 3 comme impulsion d'origine après l'écoulement d'un temps prédéterminé.
PCT/JP2012/001574 2011-04-06 2012-03-07 Dispositif de serrage WO2012137409A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2011084446A JP5787579B2 (ja) 2011-04-06 2011-04-06 把持装置
JP2011-084446 2011-04-06

Publications (2)

Publication Number Publication Date
WO2012137409A1 true WO2012137409A1 (fr) 2012-10-11
WO2012137409A4 WO2012137409A4 (fr) 2012-12-20

Family

ID=45930929

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2012/001574 WO2012137409A1 (fr) 2011-04-06 2012-03-07 Dispositif de serrage

Country Status (2)

Country Link
JP (1) JP5787579B2 (fr)
WO (1) WO2012137409A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110000460A (zh) * 2019-05-10 2019-07-12 建华建材（中国）有限公司 一种中频电源节能控制滚焊设备及其焊接方法
CN110270996A (zh) * 2018-03-14 2019-09-24 欧姆龙株式会社 机器人的控制装置以及机器人的控制方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016011761A1 (de) * 2016-10-04 2018-04-05 Günther Zimmer Greifvorrichtung mit Schaltmodul

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4632631A (en) * 1982-03-08 1986-12-30 Zymark Corporation Multiple-function hand
JPS62239204A (ja) 1986-04-10 1987-10-20 Shinko Electric Co Ltd ロボツトの原点位置決め方法
DE3742573C1 (en) * 1987-12-16 1989-03-16 Gildemeister Ag Method for correcting the position of a single- or multiple-cut tool
JP2011084446A (ja) 2009-10-19 2011-04-28 Nitta Corp カーボンナノチューブ剥離方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4488241A (en) * 1981-12-08 1984-12-11 Zymark Corporation Robot system with interchangeable hands
JPH05212688A (ja) * 1992-02-03 1993-08-24 Pioneer Electron Corp マニピュレータ
JP2922763B2 (ja) * 1993-10-19 1999-07-26 キヤノン株式会社 実装装置
JP5477646B2 (ja) * 2010-04-27 2014-04-23 株式会社マシンエンジニアリング 電動チャック

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4632631A (en) * 1982-03-08 1986-12-30 Zymark Corporation Multiple-function hand
JPS62239204A (ja) 1986-04-10 1987-10-20 Shinko Electric Co Ltd ロボツトの原点位置決め方法
DE3742573C1 (en) * 1987-12-16 1989-03-16 Gildemeister Ag Method for correcting the position of a single- or multiple-cut tool
JP2011084446A (ja) 2009-10-19 2011-04-28 Nitta Corp カーボンナノチューブ剥離方法

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110270996A (zh) * 2018-03-14 2019-09-24 欧姆龙株式会社 机器人的控制装置以及机器人的控制方法
US11400591B2 (en) 2018-03-14 2022-08-02 Omron Corporation Control device of robot and control method of robot
CN110000460A (zh) * 2019-05-10 2019-07-12 建华建材（中国）有限公司 一种中频电源节能控制滚焊设备及其焊接方法
CN110000460B (zh) * 2019-05-10 2024-01-26 建华建材（中国）有限公司 一种中频电源节能控制滚焊设备及其焊接方法

Also Published As

Publication number Publication date
JP5787579B2 (ja) 2015-09-30
JP2012218092A (ja) 2012-11-12
WO2012137409A4 (fr) 2012-12-20

Similar Documents

Publication Publication Date Title
US5139246A (en) Work clamping apparatus
DK2512755T3 (en) Method and apparatus for controlling a manipulator
US7159307B2 (en) Electrically operated chucking apparatus
US7506553B1 (en) Methods, devices and systems for adaptively driving screws using a screw driving tool
US9753449B2 (en) Numerical control device
JP6023085B2 (ja) 工具位置を感知する感知手段を備えた製造デバイス及びセットアップ方法
JP2014046449A (ja) ロボットハンド制御方法、ロボットハンド制御装置及びロボット装置
WO2012137409A4 (fr) Dispositif de serrage
CN105835056A (zh) 机器人手的控制方法和机器人设备
JP2010238174A (ja) 位置決め装置及び位置決め方法
JP6541306B2 (ja) ロボットハンド、ロボット装置、ロボットハンドの制御方法、物品の組立方法、制御プログラム、及び記憶媒体
CN110103201B (zh) 作业机器人系统
JP2021520301A (ja) 相対移動を監視するための装置及び方法
JP5268096B2 (ja) 電動アクチュエータ
CN111975250A (zh) 工件旋转装置和机器人系统
US9696152B2 (en) Position measuring apparatus
EP2733562B1 (fr) DISPOSITIF D'ÉMISSION d'un signal de déclenchement
US20160288442A1 (en) Servo press, control method, and a recording medium recording a program
JP7277295B2 (ja) サーボモータの制御装置
JP6632214B2 (ja) 制御方法、ロボットハンド、ロボット装置、製造方法、ロボットハンド制御プログラム及び記録媒体
JP2728182B2 (ja) ワーク把持装置
JP2009262275A (ja) ロボット制御装置
JP2009125879A (ja) 組立用ロボットシステム
CN108247401B (zh) 工件更换装置和工件更换方法
CN109476024B (zh) 机器人的控制方法以及焊接方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12712370

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 12712370

Country of ref document: EP

Kind code of ref document: A1